Robot control system, api processing method thereof, agent access device, and storage medium

Abstract

This invention relates to a robot control system, an API processing method for the robot control system, a proxy access device, and a storage medium. The robot control system includes: a robot scene control device configured in a locally deployed area, which invokes APIs provided by a cloud server and controls controlled objects; a proxy access processing unit that replies to the robot scene control device with API responses corresponding to API call requests; and a storage device that stores API association information associated with the APIs. If API association information exists in the storage device, the proxy access processing unit replies to the robot scene control device with API responses based on the API association information stored in the storage device.

Description

Technical Field

[0001] This invention relates to robot control systems, API (Application Program Interface) processing methods for robot control systems, proxy access devices, and storage media, such as robot control systems including robot scenario control devices that utilize APIs provided by cloud servers to control robots, API processing methods for robot control systems, proxy access devices, and storage media. Background Technology

[0002] In recent years, hybrid cloud has been used in various systems, where cloud servers located on open public networks handle a portion of the processing, while devices located in closed on-premise areas perform the remaining processing. Regarding the load distribution between cloud servers and devices on-premise areas, various configuration examples exist: a first configuration example where high-importance information is processed on the on-premise side and low-importance information is processed on the cloud side; a second configuration example where information on the on-premise side is backed up on the cloud side considering business continuity; and a third configuration example where the load of the on-premise device is transferred to the cloud side, etc. Japanese Patent No. 6138782 discloses technology related to hybrid cloud in this regard.

[0003] The hybrid unified communications configuration described in Japanese Patent No. 6138782 is a method for providing a hybrid unified communications (UC) configuration that includes telephone communications, comprising: a step of hosting a tenant including users using a UC cloud configuration that includes PSTN communications integrated with the tenant's UC local deployment configuration; a step of consistently maintaining identification information for managing the tenant between the UC cloud configuration and the UC local deployment configuration; a step of storing policies used by both the UC cloud configuration and the UC local deployment configuration; and a step of associating the selection of the tenant from a telecommunications (Telco) provider that provides PSTN services. Summary of the Invention

[0004] However, when using a hybrid cloud architecture in robots deployed locally, communication with the cloud server occurs via relay devices, including firewalls, leading to numerous constraints on cloud access. In this situation, access from the robot to the cloud server becomes unstable, potentially affecting the robot's movements. To address this issue, current technologies fix the processing load balancing between the cloud server and locally deployed devices like robots, failing to flexibly adjust the load balancing based on robot actions and thus failing to eliminate the instability of robot movements.

[0005] This invention was made to solve this problem, and its purpose is to utilize processing in a cloud server and improve the motion stability of robots configured in a locally deployed area.

[0006] One technical solution of the robot control system involved in this invention is as follows: the robot control system comprises: a cloud server connected to a public network configured outside the region; a robot scene control device configured in a local deployment area that facilitates communication between devices configured within the region via a local network built within the region, controlling the controlled device while requesting APIs provided by the cloud server using API (Application Program Interface) calls; a proxy access processing unit configured in the local deployment area that replies to the robot scene control device with API responses corresponding to the API call requests; a storage device configured in the local deployment area that stores API association information associated with the API; and a communication relay device that relays communication between the local network and the public network. When the API association information is stored in the storage device, the proxy access processing unit replies to the robot scene control device with the API response based on the API association information stored in the storage device.

[0007] One technical solution of the API processing method in the robot control system of the present invention is as follows: the robot control system includes: a cloud server connected to a public network configured outside the region; a robot scene control device configured in a local deployment area that enables communication between devices configured in the region through a local network built in the region, which controls the controlled object device while requesting APIs provided by the cloud server using API (Application Program Interface) calls; and a communication relay device that relays communication between the local network and the public network. The API processing method performs: proxy access processing, which replies to the robot scene control device with the API response corresponding to the API call request; and storage processing, which stores API association information associated with the API in a storage device configured in the local deployment area. In the proxy access processing, if the API association information is in the storage device, the API response is replied to the robot scene control device based on the API association information stored in the storage device.

[0008] One technical solution of the proxy access device involved in this invention is that the proxy access device is a device that replies to a robot scene control device with an API response corresponding to an API (Application Program Interface) call request. The robot scene control device uses the API call request to call an API provided by a cloud server while controlling the controlled object device. The proxy access device has: a proxy access processing unit that replies to the robot scene control device with the API response in response to the API call request; and a storage device that is occupied and used by the proxy access processing unit to store API association information associated with the API. When the API association information is in the storage device, the proxy access processing unit replies to the robot scene control device with the API response based on the API association information stored in the storage device.

[0009] One technical solution of the storage medium involved in this invention is that the storage medium stores a proxy access program, which is executed by a computer with a storage device. This proxy access program is a program that replies to a robot scene control device with an API response corresponding to an API (Application Program Interface) call request. The robot scene control device simultaneously uses the API call request to call an API provided by a cloud server and controls the controlled object device. The proxy access program performs: proxy access processing, replying to the robot scene control device with the API response to the API call request; and storage processing, storing API association information associated with the API in the storage device. In the proxy access processing, if the API association information is present in the storage device, the API response is replied to the robot scene control device based on the API association information stored in the storage device.

[0010] In the robot control system, the API processing method of the robot control system, the proxy access device, and the storage medium involved in this invention, the proxy access processing is used to respond to the API call requests sent by the robot scene control device to the cloud server.

[0011] According to the present invention, instability can be eliminated when a device configured on the local deployment side utilizes an API provided by a cloud server. Attached Figure Description

[0012] Hereinafter, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and wherein:

[0013] Figure 1 This is a schematic diagram of the robot control system involved in Implementation Method 1.

[0014] Figure 2 This is a flowchart illustrating the operation of the proxy access device according to Implementation Method 1.

[0015] Figure 3 This is a schematic diagram of the robot control system involved in Implementation Method 2.

[0016] Figure 4 This is a flowchart illustrating the operation of the proxy access device according to Embodiment 2.

[0017] Figure 5 This is a schematic diagram of the robot control system involved in Implementation Method 3.

[0018] Figure 6 This is a schematic diagram of the robot control system involved in Implementation Method 4.

[0019] Figure 7 This is a flowchart illustrating the operation of the robot scene control device according to Embodiment 4, representing the first example.

[0020] Figure 8 This is a flowchart illustrating the second example of the operation of the robot scene control device according to Embodiment 4. Detailed Implementation

[0021] For clarity of explanation, the following descriptions and figures have been appropriately omitted and simplified. Furthermore, the elements described in the figures as functional blocks performing various processes can be constructed in hardware by a CPU (Central Processing Unit), memory, and other circuits, and implemented in software by a program loaded into memory. Therefore, those skilled in the art should understand that these functional blocks can be implemented in various forms by hardware alone, software alone, or a combination thereof, and are not limited to any one of them. In addition, the same reference numerals are assigned to the same elements in the figures, and repeated descriptions are omitted as necessary.

[0022] Additionally, the aforementioned program includes a set of commands (or software code) for causing the computer to perform one or more functions described in the embodiments when read by the computer. The program may also be stored on a non-transitory computer-readable medium or a physical storage medium. As a non-limiting example, a computer-readable medium or a physical storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray disc or other optical disc storage, magnetic tape, magnetic tape, disk storage, or other magnetic storage devices. The program may also be transmitted on a transient computer-readable medium or a communication medium. As a non-limiting example, a transient computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0023] Implementation Method 1

[0024] exist Figure 1The diagram below shows a block diagram of the robot control system 1 according to Embodiment 1, and the robot control system 1 will be described in detail. First, in the following description, the area where a cloud server connected via a public network is installed will be referred to as a cloud area. Furthermore, within the cloud area, the public network can be used as the access path to the cloud server; access to the cloud server does not need to be open to the public, for example, it can be limited to subscribers. Additionally, the area where multiple devices are connected to a closed local network that is connected to a public network via a relay device such as a company firewall and is inaccessible to external personnel will be referred to as a local deployment area.

[0025] Furthermore, in the robot control system 1 according to Embodiment 1, the cloud server 30 is configured in the cloud area, while the proxy access device 10, robot scene control device 11, robot 12, door controller 13, elevator controller 14, camera 15, etc., are configured in the local deployment area. Moreover, in the robot control system 1 according to Embodiment 1, communication between the local network of the local deployment area and the public network of the cloud area is relayed by a relay device (e.g., domain firewall device 20).

[0026] Here, we will illustrate an example of the system configuration within a local deployment area. For example... Figure 1 As shown, in the robot control system 1 according to Embodiment 1, the robot scene control device 11 controls multiple controlled objects' devices while utilizing the API provided by the cloud server. Figure 1 In the example shown, the robot 12, door controller 13, elevator controller 14 and camera 15 are shown as the controlled objects of the robot scene control device 11, but the controlled objects of the robot scene control device 11 are not limited to these.

[0027] The proxy access device 10 receives an API call request from the robot scene control device 11 and replies to the robot scene control device 11 with an API response corresponding to the API call request. At this time, the proxy access device 10 has a cache. If the cache contains API association information associated with the API corresponding to the API call request, there is no need to send an API call request to the cloud server 30. Instead, an API response is generated based on the API association information in the cache, and this API response is sent back to the robot scene control device 11. Alternatively, if the cache does not contain API association information, the proxy access device 10 forwards the API call request to the cloud server 30 and sends the API response obtained from the cloud server 30 back to the robot scene control device 11.

[0028] Here, the proxy access device 10 will be described in more detail. The proxy access device 10 includes a proxy access processing unit 16 and a cache 17. The proxy access device 10 can be implemented by a proxy access program running on a computer or by dedicated hardware. Alternatively, the proxy access processing unit 16 can be a storage device within the housing of a device that carries a proxy access program or dedicated hardware, or it can be implemented as another device connected to the housing via a network.

[0029] The proxy access processing unit 16 is configured in the local deployment area and replies to the robot scene control device with the API response corresponding to the API call request. Additionally, API association information associated with the API is stored in the cache 17. Furthermore, if the cache 17 contains API association information, the proxy access processing unit 16 replies to the robot scene control device with the API response based on the API association information stored in the cache 17. Conversely, if the cache 17 does not contain API association information corresponding to the API call request, the proxy access processing unit 16 sends an API call request to the cloud server 30, replies to the robot scene control device 11 with the API response obtained from the cloud server 30, and saves the API association information obtained from the cloud server 30 in the cache 17.

[0030] Next, the operation of the proxy access device 10 according to Embodiment 1 will be described in detail. Therefore, in Figure 2 The flowchart below illustrates the operation of the proxy access device 10 according to Embodiment 1. After starting operation, the proxy access device 10 sets its operation to a standby state until an API request (e.g., an API call request) is received from the robot scene control device 11 (step S1). Furthermore, when an API call request is received from the robot scene control device 11, the proxy access processing unit 16 checks whether the cache 17 stores API association information associated with the requested API (step S2).

[0031] Furthermore, in step S2, if it is confirmed that the cache 17 stores API association information (the "yes" branch of step S2), the proxy access processing unit 16 further determines whether the API association information stored in the cache 17 is within the preset cache validity period (step S3). Moreover, in step S3, if the API association information stored in the cache 17 is within the cache validity period (the "yes" branch of step S3), the proxy access processing unit 16 generates an API response based on the API association information stored in the cache 17 and replies the API response to the robot scene control device 11 (step S4).

[0032] On the other hand, if it is confirmed in step S2 that no API association information is stored in cache 17 (the "No" branch of step S2), or if it is determined in step S3 that the API association information stored in cache 17 has exceeded the cache validity period (the "No" branch of step S3), the proxy access processing unit 16 sends the API call request received from the robot scene control device 11 to the cloud server 30, and calls the API response related to the requested API from the cloud server 30 (step S5). Then, the proxy access processing unit 16 replies to the robot scene control device 11 with the API response obtained in step S5 (step S6). In addition, the proxy access processing unit 16 obtains the API association information from the cloud server 30 and saves it in cache 17 (step S7). In the proxy access device 10, the actions of steps S1 to S7 are executed every time an API call request is received from the robot scene control device 11.

[0033] According to the above description, in the robot control system 1 according to Embodiment 1, the proxy access device 10 responds to the API call request requested by the robot scene control device 11 based on the API association information stored in the cache 17, without accessing the cloud server 30. Therefore, in the robot control system 1 according to Embodiment 1, communication instability caused by accessing the cloud server 30 via the domain firewall device 20 or the public network can be avoided, ensuring the stable operation of the robot scene control device 11.

[0034] Furthermore, in the robot control system 1 according to Embodiment 1, when there is no API association information corresponding to the API call request issued by the robot scene control device 11 in the cache 17, the proxy access processing unit 16 forwards the API call request to the cloud server 30 to obtain an API response. Moreover, in the robot control system 1 according to Embodiment 1, the API association information associated with the API call request is obtained from the cloud server 30 and stored in the cache 17. Therefore, in the robot control system 1 according to Embodiment 1, the APIs processed in the local deployment area can be dynamically changed without pre-setting the APIs processed in the local deployment area.

[0035] In the robot control system 1 according to Embodiment 1, since the processing uses cache 17, it is particularly effective in processing related to APIs that utilize the calculation results (e.g., API processing associated with position calculation processing, personal authentication processing, image processing, motion prediction processing, etc.).

[0036] Implementation Method 2

[0037] In Embodiment 2, a robot control system 2 having a proxy access device 40, which is another form of the proxy access device 10, will be described. Figure 3 The diagram shows a schematic representation of the robot control system according to Embodiment 2. Figure 3 As shown, the proxy access device 40 has a proxy access processing unit 46 and a local database (local DB) 47 instead of the proxy access processing unit 16 and the cache 17. Furthermore, in the robot control system 2 according to Embodiment 2, the cloud region includes a master database (master DB) 31.

[0038] The proxy access processing unit 46 refers to the local database 47 to process API call requests issued by the robot scene control device 11. If the API being processed is a pre-registered API, it performs synchronization processing of the saved content between the local database 47 and the main database 31. Here, the proxy access processing unit 46 performs processing associated with the following database-utilizing APIs: APIs for retrieving content from the local database 47; APIs for saving the control history of the robot scene control device 11 to the local database 47; and APIs for saving the movement history of the robot 12 to the local database 47.

[0039] Here, the operation of the proxy access device 40 of the robot control system 2 according to Embodiment 2 will be described in detail. Therefore, in Figure 4 The flowchart illustrates the operation of the proxy access device according to Embodiment 2. Figure 4 As shown, after the proxy access device 40 is started, the proxy access processing unit 46 waits for the API call request from the robot scene control device 11 (step S11).

[0040] Furthermore, when an API call request is received from the robot scene control device 11, the proxy access processing unit 46 uses the local database 47 to perform processing related to the API call request (step S12). Additionally, it is determined whether the API processed in step S12 is a pre-registered API (step S13). If, in step S13, it is determined that the API processed in step S12 is not a pre-registered API (the "No" branch of step S13), the proxy access device 40 waits again for an API call request from the robot scene control device 11. On the other hand, if, in step S13, it is determined that the API processed in step S12 is a pre-registered API (the "Yes" branch of step S13), the proxy access processing unit 46 accesses the cloud server 30 to synchronize the local database 47 with the main database 31 (step S14), and then waits again for an API call request from the robot scene control device 11.

[0041] According to the above description, in the robot control system 2 according to embodiment 2, the frequency of access to the cloud server 30 can be reduced in the API for accumulating data and utilizing the accumulated data, thereby improving the motion stability of the robot scene control device 11.

[0042] Furthermore, in the robot control system 2 according to Embodiment 2, the synchronization processing between the local database 47 and the main database 31 can be performed asynchronously with the timing of the robot scene control device 11's actions. That is to say, in the robot control system 2 according to Embodiment 2, synchronization processing can be performed at the timing of the robot scene control device 11's actions without hindering it, thereby improving the stability of the robot scene control device 11's actions.

[0043] Implementation Method 3

[0044] In Embodiment 3, a proxy access device 50 that possesses the functions of both the proxy access device 10 and the proxy access device 40 will be described. Therefore, in Figure 5 The diagram shows a schematic representation of the robot control system according to Embodiment 3. Figure 5 As shown, the proxy access device 50 has a proxy access processing unit 56 instead of the proxy access processing unit 16. In addition, the proxy access device 50 has a local database 47 used in the proxy access device 40, in addition to the cache 17.

[0045] The proxy access processing unit 56 combines the functions of the proxy access processing unit 16 and the proxy access processing unit 46, and can handle either the API of the computing processing system or the API of the storage / retrieval processing system.

[0046] According to the above description, in the robot control system 3 according to embodiment 3, the frequency of access to the cloud server 30 can be reduced in either the API of the computing processing system or the API of the storage / retrieval processing system, thereby improving the motion stability of the robot scene control device 11.

[0047] Implementation Method 4

[0048] In Embodiment 4, a robot control system 4 that is another form of the robot control system 3 according to Embodiment 3 will be described. Therefore, in Figure 6 The diagram shows a schematic representation of the robot control system 4 involved in embodiment 4.

[0049] like Figure 6As shown, the robot control system 4 according to embodiment 4 is a system in which the robot scene control device 11 of the robot control system 1 is replaced with the robot scene control device 61. In addition to accessing the proxy access device 50, the robot scene control device 61 also has the function of accessing the cloud server 30 without going through the proxy access device 50. Furthermore, the robot scene control device 61 switches between the cloud server 30 and the proxy access device 50 to obtain the API call request response based on the response speed of the access target. Specifically, there are two methods for obtaining the API response from the robot scene control device 61: Example 1 and Example 2.

[0050] exist Figure 7 The flowchart below illustrates a first example of the operation of the robot scene control device 61 according to Embodiment 4. Figure 7 As shown, in the first example, when an API call occurs in the robot scene control device 61 (the "Yes" branch of step S21), the robot scene control device 61 sends an API call request to the cloud server 30 (step S22). Furthermore, if no API response is received from the cloud server 30 within a preset time (the "No" branch of step S23), an API call request is made to the proxy access processing unit 56 within the proxy access device 50 (step S24), and processing is performed based on the API response received from the proxy access device 50 (step S25). On the other hand, if an API response is received from the cloud server 30 within a preset time (the "Yes" branch of step S23), processing is performed based on the API response received from the cloud server 30 (step S25).

[0051] In addition, Figure 8 The flowchart below illustrates a second example of the operation of the robot scene control device according to Embodiment 4. Figure 8 As shown, in the second example, when an API call occurs in the robot scene control device 61 (the "Yes" branch of step S21), the robot scene control device 61 sends an API call request to the proxy access device 50 (step S32). Furthermore, if no API response is received from the proxy access device 50 within a preset time (the "No" branch of step S33), an API call request is made to the cloud server 30 (step S34), and processing is performed based on the API response received from the cloud server 30 (step S25). On the other hand, if an API response is received from the proxy access device 50 within a preset time (the "Yes" branch of step S33), processing is performed based on the API response received from the proxy access device 50 (step S25).

[0052] According to the above description, in the robot control system 4 according to Embodiment 4, the robot scene control device 61 switches between sending requests to the cloud server 30 and the proxy access device 50 based on the response time of the destination of the API call request. Therefore, in the robot control system 4 according to Embodiment 4, regardless of whether congestion occurs on the public network or in the processing of the proxy access device 50, an unobstructed path can always be selected, thus improving the operational stability of the robot scene control device 61.

[0053] The invention made by the inventor has been specifically described above based on the embodiments. However, it should be noted that the invention is not limited to the described embodiments, and various modifications can be made without departing from its spirit.

Claims

1. A robot control system, comprising: Cloud servers are connected to a public network configured outside the designated area. The main database is located in an area accessible by the cloud server. The robot scene control device is configured in a local deployment area that enables communication between devices configured in the area through a local network built in the area. It controls the controlled device by calling the API provided by the cloud server using API call requests, i.e., application programming interface call requests. The proxy access processing unit, configured in the local deployment area, replies the API response corresponding to the API call request to the robot scene control device; A storage device, configured in the local deployment area, includes a cache and a local database, storing API association information associated with the API; as well as A communication relay device relays communication between the local network and the public network. The proxy access processing unit, If the API association information corresponding to the API call request is not in the cache, the API call request is sent to the cloud server, the API response obtained from the cloud server is sent back to the robot scene control device, and the API association information obtained from the cloud server is stored in the cache. If the cache contains API association information corresponding to the API call request, the API response is sent back to the robot scene control device based on the API association information obtained from the cache. The API call request is also processed in accordance with the local database. If the API being processed is a pre-registered API, synchronization processing of the saved content is performed between the local database and the main database. This synchronization processing between the local database and the main database is performed asynchronously with the timing of the robot scene control device's actions.

2. The robot control system according to claim 1, The robot scene control device makes the API call request to the cloud server, and if there is no response from the cloud server within a preset time, it makes the API call request to the proxy access processing unit.

3. The robot control system according to claim 1, The robot scene control device makes the API call request to the proxy access processing unit, and if there is no response from the proxy access processing unit within a preset time, it makes the API call request to the cloud server.

4. An API processing method in a robot control system, the robot control system comprising: a cloud server connected to a public network configured outside the region; and a main database located in an area accessible by the cloud server; A robot scene control device is configured in a locally deployed area where communication between devices within the area is facilitated via a local network built within the area. It controls the controlled device by simultaneously invoking APIs provided by the cloud server using API call requests (Application Programming Interface calls). A communication relay device relays communication between the local network and the public network. The API processing method is as follows: The proxy access processing sends the API response corresponding to the API call request back to the robot scene control device; and The storage process involves storing API association information associated with the API to a storage device configured in the local deployment area. This storage device includes a cache and a local database. In the proxy access process, If the API association information corresponding to the API call request is not in the cache, the API call request is sent to the cloud server, the API response obtained from the cloud server is sent back to the robot scene control device, and the API association information obtained from the cloud server is stored in the cache. If the cache contains API association information corresponding to the API call request, the API response is sent back to the robot scene control device based on the API association information obtained from the cache. The API call request is also processed in accordance with the local database. If the API being processed is a pre-registered API, synchronization processing of the saved content is performed between the local database and the main database. This synchronization processing between the local database and the main database is performed asynchronously with the timing of the robot scene control device's actions.

5. A proxy access device, which is a device for responding to an API call request (i.e., an application programming interface call request) to a robot scene control device, wherein the robot scene control device simultaneously uses the API call request to call an API provided by a cloud server and controls the controlled object device, the proxy access device having: The proxy access processing unit, in response to the API call request, replies the API response to the robot scene control device; as well as The storage device, possessed and utilized by the proxy access processing unit, stores API-related information associated with the API, including cache and local database. The proxy access processing unit, If the API association information corresponding to the API call request is not in the cache, the API call request is sent to the cloud server, the API response obtained from the cloud server is sent back to the robot scene control device, and the API association information obtained from the cloud server is stored in the cache. If the cache contains API association information corresponding to the API call request, the API response is sent back to the robot scene control device based on the API association information obtained from the cache. The API call request is also processed in accordance with the local database. If the API being processed is a pre-registered API, synchronization processing of the saved content is performed between the local database and the main database located in a region accessible by the cloud server. The synchronization processing of the local database and the main database is performed asynchronously with the timing of the robot scene control device's actions.

6. A storage medium storing a proxy access program, the proxy access program being executed by a computer having a storage device, which is a program that responds to a robot scene control device with an API response corresponding to an API call request, i.e., an application programming interface call request. The storage device includes a cache and a local database. The robot scene control device simultaneously uses the API call request to call an API provided by a cloud server and controls the controlled object device. The proxy access program performs the following: The proxy access processing, in response to the API call request, replies the API response to the robot scene control device; and The storage process involves storing the API association information associated with the API in the storage device. In the proxy access process, If the API association information corresponding to the API call request is not in the cache, the API call request is sent to the cloud server, the API response obtained from the cloud server is sent back to the robot scene control device, and the API association information obtained from the cloud server is stored in the cache. If the cache contains API association information corresponding to the API call request, the API response is sent back to the robot scene control device based on the API association information obtained from the cache. The API call request is also processed in accordance with the local database. If the API being processed is a pre-registered API, synchronization processing of the saved content is performed between the local database and the main database located in a region accessible by the cloud server. The synchronization processing of the local database and the main database is performed asynchronously with the timing of the robot scene control device's actions.

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